Drop support for autoware_auto_xx_msgs

dependency_humble.repos

@@ -7,10 +7,11 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_msgs.git
     version: main
-  autoware_auto_msgs:
+  # TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
+  autoware_common:
     type: git
-    url: https://github.com/tier4/autoware_auto_msgs.git
-    version: tier4/main
+    url: https://github.com/autowarefoundation/autoware_common.git
+    version: remove-autoware-cmake-utils
   autoware_cmake:
     type: git
     url: https://github.com/autowarefoundation/autoware_cmake.git

external/concealer/include/concealer/autoware.hpp

@@ -16,10 +16,10 @@
 #define CONCEALER__AUTOWARE_HPP_
 
 #include <atomic>
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_vehicle_msgs/msg/gear_command.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
 #include <concealer/continuous_transform_broadcaster.hpp>
 #include <concealer/visibility.hpp>
 #include <geometry_msgs/msg/accel.hpp>
@@ -49,7 +49,7 @@ class Autoware : public rclcpp::Node, public ContinuousTransformBroadcaster<Auto
 
   virtual auto getAcceleration() const -> double = 0;
 
-  virtual auto getGearCommand() const -> autoware_auto_vehicle_msgs::msg::GearCommand;
+  virtual auto getGearCommand() const -> autoware_vehicle_msgs::msg::GearCommand;
 
   virtual auto getSteeringAngle() const -> double = 0;
 
@@ -59,16 +59,14 @@ class Autoware : public rclcpp::Node, public ContinuousTransformBroadcaster<Auto
   virtual auto getGearSign() const -> double = 0;
 
   virtual auto getTurnIndicatorsCommand() const
-    -> autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
+    -> autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 
-  virtual auto getVehicleCommand() const -> std::tuple<
-    autoware_auto_control_msgs::msg::AckermannControlCommand,
-    autoware_auto_vehicle_msgs::msg::GearCommand> = 0;
+  virtual auto getVehicleCommand() const
+    -> std::tuple<autoware_control_msgs::msg::Control, autoware_vehicle_msgs::msg::GearCommand> = 0;
 
   virtual auto getRouteLanelets() const -> std::vector<std::int64_t> = 0;
 
-  virtual auto getControlModeReport() const
-    -> autoware_auto_vehicle_msgs::msg::ControlModeReport = 0;
+  virtual auto getControlModeReport() const -> autoware_vehicle_msgs::msg::ControlModeReport = 0;
 
   auto set(const geometry_msgs::msg::Accel &) -> void;
 

external/concealer/include/concealer/autoware_universe.hpp

@@ -15,19 +15,19 @@
 #ifndef CONCEALER__AUTOWARE_UNIVERSE_HPP_
 #define CONCEALER__AUTOWARE_UNIVERSE_HPP_
 
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/steering_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_report.hpp>
-#include <autoware_auto_vehicle_msgs/msg/velocity_report.hpp>
-#include <autoware_auto_vehicle_msgs/srv/control_mode_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
+#include <autoware_vehicle_msgs/msg/gear_report.hpp>
+#include <autoware_vehicle_msgs/msg/steering_report.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
+#include <autoware_vehicle_msgs/msg/velocity_report.hpp>
+#include <autoware_vehicle_msgs/srv/control_mode_command.hpp>
 #include <concealer/autoware.hpp>
 #include <concealer/publisher_wrapper.hpp>
 #include <concealer/subscriber_wrapper.hpp>
 #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
 #include <nav_msgs/msg/odometry.hpp>
+#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
 namespace concealer
 {
@@ -38,30 +38,30 @@ namespace concealer
 class AutowareUniverse : public Autoware
 {
   // clang-format off
-  using ControlModeCommand          = autoware_auto_vehicle_msgs::srv::ControlModeCommand;
-  using ControlModeReport           = autoware_auto_vehicle_msgs::msg::ControlModeReport;
-  using GearCommand                 = autoware_auto_vehicle_msgs::msg::GearCommand;
-  using GearReport                  = autoware_auto_vehicle_msgs::msg::GearReport;
-  using TurnIndicatorsCommand       = autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
-  using PathWithLaneId              = autoware_auto_planning_msgs::msg::PathWithLaneId;
-  using SteeringReport              = autoware_auto_vehicle_msgs::msg::SteeringReport;
-  using VelocityReport              = autoware_auto_vehicle_msgs::msg::VelocityReport;
-  using TurnIndicatorsReport        = autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport;
-  using AckermannControlCommand     = autoware_auto_control_msgs::msg::AckermannControlCommand;
   using AccelWithCovarianceStamped  = geometry_msgs::msg::AccelWithCovarianceStamped;
-
-  SubscriberWrapper<AckermannControlCommand, ThreadSafety::safe> getAckermannControlCommand;
-  SubscriberWrapper<GearCommand,             ThreadSafety::safe> getGearCommandImpl;
-  SubscriberWrapper<TurnIndicatorsCommand,   ThreadSafety::safe> getTurnIndicatorsCommand;
-  SubscriberWrapper<PathWithLaneId,          ThreadSafety::safe> getPathWithLaneId;
-
-  PublisherWrapper<AccelWithCovarianceStamped>  setAcceleration;
-  PublisherWrapper<nav_msgs::msg::Odometry>     setOdometry;
-  PublisherWrapper<SteeringReport>              setSteeringReport;
-  PublisherWrapper<GearReport>                  setGearReport;
-  PublisherWrapper<ControlModeReport>           setControlModeReport;
-  PublisherWrapper<VelocityReport>              setVelocityReport;
-  PublisherWrapper<TurnIndicatorsReport>        setTurnIndicatorsReport;
+  using Control                     = autoware_control_msgs::msg::Control;
+  using ControlModeCommand          = autoware_vehicle_msgs::srv::ControlModeCommand;
+  using ControlModeReport           = autoware_vehicle_msgs::msg::ControlModeReport;
+  using GearCommand                 = autoware_vehicle_msgs::msg::GearCommand;
+  using GearReport                  = autoware_vehicle_msgs::msg::GearReport;
+  using PathWithLaneId              = tier4_planning_msgs::msg::PathWithLaneId;
+  using SteeringReport              = autoware_vehicle_msgs::msg::SteeringReport;
+  using TurnIndicatorsCommand       = autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
+  using TurnIndicatorsReport        = autoware_vehicle_msgs::msg::TurnIndicatorsReport;
+  using VelocityReport              = autoware_vehicle_msgs::msg::VelocityReport;
+
+  SubscriberWrapper<Control,                ThreadSafety::safe> getCommand;
+  SubscriberWrapper<GearCommand,            ThreadSafety::safe> getGearCommandImpl;
+  SubscriberWrapper<TurnIndicatorsCommand,  ThreadSafety::safe> getTurnIndicatorsCommand;
+  SubscriberWrapper<PathWithLaneId,         ThreadSafety::safe> getPathWithLaneId;
+
+  PublisherWrapper<AccelWithCovarianceStamped> setAcceleration;
+  PublisherWrapper<nav_msgs::msg::Odometry>    setOdometry;
+  PublisherWrapper<SteeringReport>             setSteeringReport;
+  PublisherWrapper<GearReport>                 setGearReport;
+  PublisherWrapper<ControlModeReport>          setControlModeReport;
+  PublisherWrapper<VelocityReport>             setVelocityReport;
+  PublisherWrapper<TurnIndicatorsReport>       setTurnIndicatorsReport;
   // clang-format on
 
   rclcpp::Service<ControlModeCommand>::SharedPtr control_mode_request_server;
@@ -103,7 +103,7 @@ class AutowareUniverse : public Autoware
 
   auto getGearSign() const -> double override;
 
-  auto getVehicleCommand() const -> std::tuple<AckermannControlCommand, GearCommand> override;
+  auto getVehicleCommand() const -> std::tuple<Control, GearCommand> override;
 
   auto getRouteLanelets() const -> std::vector<std::int64_t> override;
 

external/concealer/include/concealer/field_operator_application.hpp

@@ -20,10 +20,8 @@
 #include <sys/wait.h>
 
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <autoware_auto_system_msgs/msg/emergency_state.hpp>
-#include <autoware_auto_vehicle_msgs/msg/turn_indicators_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
 #include <chrono>
 #include <concealer/autoware_stream.hpp>
 #include <concealer/launch.hpp>
@@ -147,7 +145,7 @@ class FieldOperatorApplication : public rclcpp::Node
   virtual auto restrictTargetSpeed(double) const -> double = 0;
 
   virtual auto getTurnIndicatorsCommand() const
-    -> autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand;
+    -> autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 
   virtual auto rethrow() const noexcept(false) -> void;
 
@@ -159,11 +157,11 @@ class FieldOperatorApplication : public rclcpp::Node
 };
 }  // namespace concealer
 
-namespace autoware_auto_vehicle_msgs::msg
+namespace autoware_vehicle_msgs::msg
 {
 auto operator<<(std::ostream &, const TurnIndicatorsCommand &) -> std::ostream &;
 
 auto operator>>(std::istream &, TurnIndicatorsCommand &) -> std::istream &;
-}  // namespace autoware_auto_vehicle_msgs::msg
+}  // namespace autoware_vehicle_msgs::msg
 
 #endif  // CONCEALER__AUTOWARE_USER_HPP_

external/concealer/include/concealer/field_operator_application_for_autoware_universe.hpp

@@ -19,24 +19,15 @@
 #include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
 #endif
 
-#if __has_include(<autoware_system_msgs/msg/autoware_state.hpp>)
-#include <autoware_system_msgs/msg/autoware_state.hpp>
-#endif
-
-#if __has_include(<autoware_auto_system_msgs/msg/autoware_state.hpp>)
-#include <autoware_auto_system_msgs/msg/autoware_state.hpp>
-#endif
-
 #include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
 #include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
 #include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
 #include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
 #include <autoware_adapi_v1_msgs/srv/set_route_points.hpp>
-#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>
-#include <autoware_auto_perception_msgs/msg/traffic_signal_array.hpp>
-#include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>
-#include <autoware_auto_system_msgs/msg/emergency_state.hpp>
-#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
+#include <autoware_control_msgs/msg/control.hpp>
+#include <autoware_perception_msgs/msg/traffic_signal_array.hpp>
+#include <autoware_system_msgs/msg/autoware_state.hpp>
+#include <autoware_vehicle_msgs/msg/gear_command.hpp>
 #include <concealer/autoware_universe.hpp>
 #include <concealer/field_operator_application.hpp>
 #include <concealer/publisher_wrapper.hpp>
@@ -47,6 +38,7 @@
 #include <tier4_external_api_msgs/msg/emergency.hpp>
 #include <tier4_external_api_msgs/srv/engage.hpp>
 #include <tier4_external_api_msgs/srv/set_velocity_limit.hpp>
+#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 #include <tier4_planning_msgs/msg/trajectory.hpp>
 #include <tier4_rtc_msgs/msg/cooperate_status_array.hpp>
 #include <tier4_rtc_msgs/srv/auto_mode_with_module.hpp>
@@ -62,21 +54,16 @@ class FieldOperatorApplicationFor<AutowareUniverse>
   friend struct TransitionAssertion<FieldOperatorApplicationFor<AutowareUniverse>>;
 
   // clang-format off
-  SubscriberWrapper<autoware_auto_control_msgs::msg::AckermannControlCommand>     getAckermannControlCommand;
-#if __has_include(<autoware_system_msgs/msg/autoware_state.hpp>)
-  SubscriberWrapper<autoware_system_msgs::msg::AutowareState, ThreadSafety::safe>    getAutowareState;
-#endif
-#if __has_include(<autoware_auto_system_msgs/msg/autoware_state.hpp>)
-  SubscriberWrapper<autoware_auto_system_msgs::msg::AutowareState, ThreadSafety::safe> getAutowareAutoState;
-#endif
+  SubscriberWrapper<autoware_control_msgs::msg::Control>                          getCommand;
+  SubscriberWrapper<autoware_system_msgs::msg::AutowareState, ThreadSafety::safe> getAutowareState;
   SubscriberWrapper<tier4_rtc_msgs::msg::CooperateStatusArray>                    getCooperateStatusArray;
   SubscriberWrapper<tier4_external_api_msgs::msg::Emergency>                      getEmergencyState;
 #if __has_include(<autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>)
   SubscriberWrapper<autoware_adapi_v1_msgs::msg::LocalizationInitializationState> getLocalizationState;
 #endif
   SubscriberWrapper<autoware_adapi_v1_msgs::msg::MrmState>                        getMrmState;
   SubscriberWrapper<tier4_planning_msgs::msg::Trajectory>                         getTrajectory;
-  SubscriberWrapper<autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand>       getTurnIndicatorsCommandImpl;
+  SubscriberWrapper<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>            getTurnIndicatorsCommandImpl;
 
   ServiceWithValidation<autoware_adapi_v1_msgs::srv::ClearRoute>                  requestClearRoute;
   ServiceWithValidation<tier4_rtc_msgs::srv::CooperateCommands>                   requestCooperateCommands;
@@ -145,35 +132,16 @@ class FieldOperatorApplicationFor<AutowareUniverse>
   auto sendSIGINT() -> void override;
 
 public:
-  SubscriberWrapper<autoware_auto_planning_msgs::msg::PathWithLaneId> getPathWithLaneId;
+  SubscriberWrapper<tier4_planning_msgs::msg::PathWithLaneId> getPathWithLaneId;
 
 public:
   template <typename... Ts>
   CONCEALER_PUBLIC explicit FieldOperatorApplicationFor(Ts &&... xs)
   : FieldOperatorApplication(std::forward<decltype(xs)>(xs)...),
     // clang-format off
-    getAckermannControlCommand("/control/command/control_cmd", rclcpp::QoS(1), *this),
-#if __has_include(<autoware_system_msgs/msg/autoware_state.hpp>)
+    getCommand("/control/command/control_cmd", rclcpp::QoS(1), *this),
     getAutowareState("/autoware/state", rclcpp::QoS(1), *this, [this](const auto & v) {
-      /*
-       There are multiple places that assignments to `autoware_state` in the callback for the /autoware/state topic to accommodate multiple messages.
-       But only one of them is used as long as correct configuration Autoware is.
-       Even if the topic comes in multiple types, as long as the content is the same,
-       there is basically no problem, but there is a possibility that potential problems may occur.
-      */
        autoware_state = getAutowareStateString<autoware_system_msgs::msg::AutowareState>(v.state); }),
-#endif
-#if __has_include(<autoware_auto_system_msgs/msg/autoware_state.hpp>)
-    getAutowareAutoState("/autoware/state", rclcpp::QoS(1), *this, [this](const auto & v) {
-      /*
-       There are multiple places that assignments to `autoware_state` in the callback for the /autoware/state topic to accommodate multiple messages.
-       But only one of them is used as long as correct configuration Autoware is.
-       Even if the topic comes in multiple types, as long as the content is the same,
-       there is basically no problem, but there is a possibility that potential problems may occur.
-      */
-      autoware_state = getAutowareStateString<autoware_auto_system_msgs::msg::AutowareState>(v.state);
-    }),
-#endif
     getCooperateStatusArray("/api/external/get/rtc_status", rclcpp::QoS(1), *this, [this](const auto & v) { latest_cooperate_status_array = v; }),
     getEmergencyState("/api/external/get/emergency", rclcpp::QoS(1), *this, [this](const auto & v) { receiveEmergencyState(v); }),
 #if __has_include(<autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>)
@@ -209,7 +177,7 @@ class FieldOperatorApplicationFor<AutowareUniverse>
   auto getWaypoints() const -> traffic_simulator_msgs::msg::WaypointsArray override;
 
   auto getTurnIndicatorsCommand() const
-    -> autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand override;
+    -> autoware_vehicle_msgs::msg::TurnIndicatorsCommand override;
 
   auto getEmergencyStateName() const -> std::string override;
 

external/concealer/include/concealer/transition_assertion.hpp

@@ -15,6 +15,7 @@
 #ifndef CONCEALER__TRANSITION_ASSERTION_HPP_
 #define CONCEALER__TRANSITION_ASSERTION_HPP_
 
+#include <autoware_system_msgs/msg/autoware_state.hpp>
 #include <chrono>
 #include <rclcpp/node.hpp>
 #include <rclcpp/rate.hpp>

external/concealer/package.xml

@@ -12,11 +12,10 @@
 
   <!-- Autoware.Universe -->
   <depend>autoware_adapi_v1_msgs</depend>
-  <depend>autoware_auto_control_msgs</depend>
-  <depend>autoware_auto_perception_msgs</depend>
-  <depend>autoware_auto_planning_msgs</depend>
-  <depend>autoware_auto_system_msgs</depend>
-  <depend>autoware_auto_vehicle_msgs</depend>
+  <depend>autoware_control_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>autoware_system_msgs</depend>
+  <depend>autoware_vehicle_msgs</depend>
 
   <!-- TIER IV Autoware.Universe -->
   <depend>tier4_external_api_msgs</depend>

external/concealer/src/autoware.cpp

@@ -24,11 +24,11 @@ Autoware::Autoware()
 {
 }
 
-auto Autoware::getGearCommand() const -> autoware_auto_vehicle_msgs::msg::GearCommand
+auto Autoware::getGearCommand() const -> autoware_vehicle_msgs::msg::GearCommand
 {
   static auto gear_command = []() {
-    autoware_auto_vehicle_msgs::msg::GearCommand gear_command;
-    gear_command.command = autoware_auto_vehicle_msgs::msg::GearCommand::DRIVE;
+    autoware_vehicle_msgs::msg::GearCommand gear_command;
+    gear_command.command = autoware_vehicle_msgs::msg::GearCommand::DRIVE;
     return gear_command;
   }();
   gear_command.stamp = now();
@@ -44,13 +44,11 @@ auto Autoware::set(const geometry_msgs::msg::Twist & twist) -> void { current_tw
 
 auto Autoware::set(const geometry_msgs::msg::Pose & pose) -> void { current_pose.store(pose); }
 
-auto Autoware::getTurnIndicatorsCommand() const
-  -> autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand
+auto Autoware::getTurnIndicatorsCommand() const -> autoware_vehicle_msgs::msg::TurnIndicatorsCommand
 {
   static auto turn_indicators_command = []() {
-    autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand turn_indicators_command;
-    turn_indicators_command.command =
-      autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand::NO_COMMAND;
+    autoware_vehicle_msgs::msg::TurnIndicatorsCommand turn_indicators_command;
+    turn_indicators_command.command = autoware_vehicle_msgs::msg::TurnIndicatorsCommand::NO_COMMAND;
     return turn_indicators_command;
   }();
   turn_indicators_command.stamp = now();

external/concealer/src/autoware_universe.cpp

@@ -17,7 +17,7 @@
 namespace concealer
 {
 AutowareUniverse::AutowareUniverse()
-: getAckermannControlCommand("/control/command/control_cmd", rclcpp::QoS(1), *this),
+: getCommand("/control/command/control_cmd", rclcpp::QoS(1), *this),
   getGearCommandImpl("/control/command/gear_cmd", rclcpp::QoS(1), *this),
   getTurnIndicatorsCommand("/control/command/turn_indicators_cmd", rclcpp::QoS(1), *this),
   getPathWithLaneId(
@@ -85,17 +85,14 @@ auto AutowareUniverse::stopAndJoin() -> void
 
 auto AutowareUniverse::getAcceleration() const -> double
 {
-  return getAckermannControlCommand().longitudinal.acceleration;
+  return getCommand().longitudinal.acceleration;
 }
 
-auto AutowareUniverse::getVelocity() const -> double
-{
-  return getAckermannControlCommand().longitudinal.speed;
-}
+auto AutowareUniverse::getVelocity() const -> double { return getCommand().longitudinal.velocity; }
 
 auto AutowareUniverse::getSteeringAngle() const -> double
 {
-  return getAckermannControlCommand().lateral.steering_tire_angle;
+  return getCommand().lateral.steering_tire_angle;
 }
 
 auto AutowareUniverse::updateLocalization() -> void
@@ -176,9 +173,9 @@ auto AutowareUniverse::getGearSign() const -> double
            : 1.0;
 }
 
-auto AutowareUniverse::getVehicleCommand() const -> std::tuple<AckermannControlCommand, GearCommand>
+auto AutowareUniverse::getVehicleCommand() const -> std::tuple<Control, GearCommand>
 {
-  return std::make_tuple(getAckermannControlCommand(), getGearCommand());
+  return std::make_tuple(getCommand(), getGearCommand());
 }
 
 auto AutowareUniverse::getRouteLanelets() const -> std::vector<std::int64_t>